Stabilizing predictive visual feedback control for fixed camera systems

Toshiyuki Murao*, Hiroyuki Kawai, Masayuki Fujita

*この研究の対応する著者

研究成果査読

4 被引用数 (Scopus)

抄録

This paper investigates a vision based robot control via a receding horizon control strategy for fixed camera systems, as a stabilizing predictive visual feedback control. Firstly, a 3D dynamic visual feedback system with a fixed camera configuration is reconstructed in order to improve performance of estimation. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast system, is proposed. The stability of the receding horizon control scheme is guaranteed by using the terminal cost derived from the energy function of the dynamic visual feedback system. Furthermore, simulation and actual nonlinear experimental results are assessed with respect to the stability and the performance.

本文言語English
ジャーナルIEEJ Transactions on Electronics, Information and Systems
129
4
DOI
出版ステータスPublished - 2009

ASJC Scopus subject areas

  • 電子工学および電気工学

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